夹持机械手的说明书于春敏.docVIP

毕业设计说明书 设计题目：夹持机械手 学生姓名： 学 号： 专业班级： 学 部： 指导教师： 2012年05月18日 摘 要 机械手是能模仿人手和臂的某些动作功能，用以按固定程序抓取、搬运物件或操作工具的自动操作装置。它可代替人的繁重劳动以实现生产的机械化和自动化，能在有害环境下操作以保护人身安全，因而广泛应用于机械制造、冶金、电子、轻工和原子能等部门。Abstract Machine hand can copy hand and some arm action functions example, device in order to grab according to the fixed routine,carrying an article or handling implement automation operation. It but substitutes strenuousness working to realize the mechanization giving birth to a child and automates, can handle to protect personal safety under harmful environment , apply to branches such as machinofacture , metallurgy , electron , light industry and atomic energy as a result broadly. In the weight being designing middle , the author this time, to clip hold, implement , finesse , expansion and shrinkage arm , hydraulic pressure system detailed design. Among them, the clip hold implement has adopt the gear wheel rack to translate the type clip hold implement , the motor turning round from hydraulic pressure has driven finesse by the fact that the hydraulic pressure jar controls whose degree of tightness, the expansion and shrinkage arm is assisted from two guiding poles prop up, the same reason hydraulic pressure jar controls, finesse among them links with to stretching out and drawing back the arm , finesse and to clamping an implement without exception by the flange, plus finesse and the high and low who stretches out and draws back an arm order readjusts oneself to a certain extent pack, machine hand structure is compact will do, layout is rational, the fructification is durable, the stability is good, reliability is high. Keywords： Machine hand clamps the implement; finesse; hydraulic pressure jar . 目　　录 摘 要 １ Abstract 2 1绪 论 1 1.1课题背景 1 1.2机器人的发展及分类 2 1.3 国内外发展现状 4 1.4 设计内容及工作原理 4 2 夹持器的设计 6 2.1夹持器设计方案 6 2.1.1设计要求 6 2.1.2 设计任务 6 2.1.3 设计所需数据 6 2.1.4 设计方案 6 2.2结构设计 8 2.2.1 手爪的设计 8 2.2.2连杆的设计 9 2.2.3 齿轮连杆的设计 10 2.2.4齿轮底板结构的设计 11 2.3计算说明 11 2.3.1驱动力的计算 11